DETERMINING A MAXIMUM ADHESION LIMIT

Abstract

A method for determining a maximum adhesion limit between a tire and a substrate on which the tire is running in a longitudinal direction. The method includes detecting an instantaneous slip of the tire; detecting an instantaneous longitudinal force on the tire; determining an instantaneous coefficient of adhesion; forming a tuple from the detected slip and determined instantaneous coefficient of adhesion; and determining the adhesion limit. The adhesion limit is determined on the basis of the slope of a straight line passing through the origin and the tuple, if the slip is less than a first threshold value, or on the basis of the slope of a tangent passing through the tuple, if the slip is between the first threshold value and a second threshold value, or directly on the basis of the instantaneous coefficient of adhesion, if the slip is greater than the second threshold value.

Claims

1-10. (canceled)

11. A method (300) for determining an adhesion limit (.sub.max) between a tire (100) and a substrate (105) over which the tire (100) is rolling, in a longitudinal direction (120) of the tire (100), the method (300) comprising: detecting (305) an instantaneous slip (125) of the tire (100); determining (310) an instantaneous coefficient of adhesion (210); forming (310) a tuple from the detected slip (125) and the instantaneous coefficient of adhesion; determining (330) a maximum adhesion limit (.sub.max) based on a slope (m.sub.u) of a straight line from the origin (240) through the tuple, if the slip (125) is less than a predetermined first threshold value (230); determining (335) the maximum adhesion limit (pmax) based on a tangential slope (m.sub.t) through the tuple, if the slip (125) is between the first threshold value (230) and a predetermined second threshold value (235); and if the slip (125) is greater than the second threshold value (235), determining the maximum adhesion limit (.sub.max) directly based on the coefficient of adhesion (210).

12. A method (300) for determining an adhesion limit (.sub.max) between a tire (100) and a substrate (105) over which the tire (100) is rolling, in a transverse direction (140) of the tire (100), the method (300) comprising: detecting (305) an instantaneous sideslip angle (145) of the tire (100); determining (310) an instantaneous coefficient of adhesion (210); forming (310) a tuple from the detected sideslip angle (145) and the instantaneous coefficient of adhesion (210) determined; determining (330) a maximum adhesion limit (.sub.max) based on a slope (m.sub.u) of a straight line from the origin (240) through the tuple, if the slip (125) is less than a predetermined first threshold value (230); determining (335) the maximum adhesion limit (.sub.max) based on a tangential slope (m.sub.t) through the tuple, if the slip (125) is between the first threshold value (230) and a predetermined second threshold value (235); if the sideslip angle (145) is above the second threshold value (235), determining (340) the maximum adhesion limit (.sub.max) directly based on the effective instantaneous coefficient of adhesion (210).

13. The method (300) according to claims 11, further comprising if the slip (125) is greater than the predetermined second threshold value (235), determining the maximum adhesion limit (.sub.max) as being equal to the instantaneous coefficient of adhesion (210).

14. The method (300) according to claim 11, further comprising , if the sideslip angle (145) is greater than the second predetermined threshold value (235), determining the maximum adhesion limit (.sub.max) as being equal to the instantaneous coefficient of adhesion (210).

15. The method (300) according to claim 11, further comprising determining an instantaneous tangential force acting upon the tires (100) and the instantaneous coefficient of adhesion (210) as the quotient of the tangential force (140) and a normal force.

16. The method (300) according to claim 11, further comprising determining (310) the coefficient of adhesion (210) based on a model.

17. The method (300) according to claim 11, further comprising determining an instantaneous longitudinal force acting upon the tires (100) and the instantaneous coefficient of adhesion (210) as the quotient of the longitudinal force (120) and a normal force.

18. A device (400) for determination of a maximum adhesion limit (.sub.max) between a tire (100) and a substrate (105) over which the tire (100) is rolling, in a longitudinal direction (120) of the tire (100), the device comprising: a first interface (415) which detects an instantaneous slip (125) of the tire (100); a second interface (420) which detects an instantaneous coefficient of adhesion (210); a processing device (410) which is designed to form a tuple from the slip (125) detected and the coefficient of adhesion determined, and determine the adhesion limit (.sub.max) on a basis of the slope (m.sub.u) of a straight line through the origin (240) passing through the tuple, if the slip (125) is lower than a predetermined first threshold value (230), determine the adhesion limit (.sub.max) on a basis of the slope (m.sub.t) of a tangent passing through the tuple, if the slip (125) is between the first threshold value (230) and a second threshold value (235), and determine the adhesion limit (.sub.max) directly on a basis of the coefficient of adhesion (210), if the slip (125) is greater than the second predetermined threshold value (235); and a further interface (425) for making the determined adhesion limit (.sub.max) available.

19. A device (400) for determination of a maximum adhesion limit (.sub.max) between a tire (100) and a substrate (105) over which the tire (100) is rolling, in a transverse direction (140) of the tire (100), the device comprising: a first interface (415) for detecting an instantaneous sideslip angle (145) of the tire (100); a second interface (420) for detecting an instantaneous coefficient of adhesion (210); a processing device (410) for forming a tuple from the sideslip angle (145) detected and the determined coefficient of adhesion (210); and determine the adhesion limit (.sub.max) on a basis of the slope (m.sub.u) of a straight line through the origin that passes through the tuple, if the sideslip angle (145) is below a predetermined first threshold value (230), determine the adhesion limit (.sub.max) on a basis of the slope (m.sub.t) of a tangent passing through the tuple, if the sideslip angle (145) is between the first threshold value (230) and a second threshold value (235), or determine the adhesion limit (.sub.max) on a basis of the coefficient of adhesion (210), if the sideslip angle (145) is greater than the second predetermined threshold value (235), and a further interface (425) for making available the adhesion limit (.sub.max) determined.

20. A motor vehicle (405) in combination with the device according to claim 18, wherein the vehicle having the tire (100).

21. The method (300) according to claim 12, further comprising determining the maximum adhesion limit (.sub.max) as being equal to the instantaneous coefficient of adhesion (210), if the slip (125) is greater than the predetermined second threshold value (235).

22. The method (300) according to claim 12, further comprising determining the maximum adhesion limit (.sub.max) as being equal to the instantaneous coefficient of adhesion (210), if the sideslip angle (145) is greater than the second predetermined threshold value (235).

23. The method (300) according to claim 12, further comprising determining an instantaneous tangential force acting upon the tires (100) and determining the instantaneous coefficient of adhesion (210) as the quotient of the tangential force (140) and a normal force.

24. The method (300) according to claim 12, further comprising determining (310) the coefficient of adhesion (210) based on a model.

25. The method (300) according to claim 12, further comprising determining an instantaneous longitudinal force acting upon the tires (100) and the instantaneous coefficient of adhesion (210) as the quotient of the longitudinal force (120) and a normal force.

Description

BRIEF DESCRIPTION OF THE DRAWINGS

[0023] Embodiments of the invention will now be described in greater detail with reference to the attached figures, which show:

[0024] FIGS. 1, 1A: A tire on a substrate;

[0025] FIG. 2: A characteristic curve between the slip or sideslip angle of a tire and its coefficient of adhesion;

[0026] FIG. 3: A flow chart of a method for determining a maximum coefficient of adhesion of a tire; and

[0027] FIG. 4: A schematic representation of a device for determining the maximum coefficient of adhesion.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0028] FIGS. 1 and 1A show a tire 100 on a substrate 105, viewed from the side and from above. The tire 100 is usually fitted on a wheel; in this description, however, we are mainly concerned with the frictional behavior between the tire 100 and the substrate 105, so that for example in order to consider the driving behavior of a motor vehicle, the tire 100 can be regarded as synonymous with a wheel.

[0029] In the side view (FIG. 1A) a circumferential speed 110 and a longitudinal speed 115 are shown. The longitudinal speed 115 is directed in a longitudinal direction 120 which is perpendicular to a rotational axis of the tire 100 and is usually parallel to the substrate 105. A difference between the speed 110 and 115 is produced by slip 125, which can be denoted as s.

[0030] In the view from above (FIG. 1), a rotational plane 130 and a travel direction 135 are shown. The rotational plane 130 is perpendicular to a transverse direction 140, which extends parallel to the rotational axis of the tire 100. Between the rotational plane 130 and the travel direction 135 there is a sideslip angle 145 that can be denoted .

[0031] In relation to a coefficient of adhesion between the tire 100 and the substrate 105, a slip 125 that depends on a force acting in the longitudinal direction 120 behaves similarly to the sideslip angle 145 that depends on a force acting in the transverse direction 140. Thus, in the explanations that follow a -value 150 is used as an overarching term for the slip 125 and the sideslip angle 145. Thus, an adhesion limit can be determined on the basis of the instantaneously effective coefficient of adhesion in relation to the longitudinal forces and the transverse forces in an analogous manner.

[0032] FIG. 2 shows a diagram 200 with a characteristic curve 205 between a -value 150 and a coefficient of adhesion 210, here denoted by . The characteristic curve 205 can be divided into a first range 125 starting at the origin (=0, =0), a second range 220 and a third range 225. Between the first range 215 and the second range 220 there is a first threshold value 230, and between the second range 220 and the third range there is a second threshold value 235.

[0033] An adhesion limit can be determined as a function of a slope of the characteristic curve 205. The slope differs in the three ranges 215 to 225. In the first range 215 the slope can be approximated by the slope of a straight line through the origin 240, which passes through the origin and a measurement point to which 205 extends. This measurement point is given as a tuple with the x-coordinate of an instantaneous -value 150 and a y-coordinate of an instantaneous coefficient of adhesion value 210. In the second range 220 the slope can better be determined by a tangent 245 at the measurement point. For this, a plurality of measurement points as close together as possible can also be considered. In the third range 225, for simplicity the slope can be regarded as approximately constant. In particular the adhesion limit can be taken as equal to the instantaneous coefficient of adhesion 210.

[0034] FIG. 3 shows a flow chart of a method 300 for determining the adhesion limit of a tire 100. In a step 305 one or more parameters of the tire 100 or a motor vehicle connected thereto are determined. In one embodiment, at a time-point k an instantaneous -value 150, a normal force F.sub.z, k and a tire longitudinal force F.sub.l, k or a tire lateral force F.sub.s, k can be determined. In a step 310 the instantaneous coefficient of adhesion .sub.k (210) is determined, for example as the quotient of the tangential force determined, i.e. the previously determined force in the longitudinal direction 120 or transverse direction 140, and the normal force. In another embodiment the coefficient of adhesion 210 can even be determined in some other way, perhaps by means of a calculation model. The calculation model can require a determination of the yaw rate of the motor vehicle, or a tire rotational speed of the tire 100 or that of another tire, or accelerations.

[0035] Thereafter, the -value 150 determined is evaluated in relation to the threshold values 230 and 235. In a first case 315, the -value 150 is in the first range 215, i.e. between the origin and the first threshold value 230. In a second case 320 the -value 150 is in the second range 220, i.e. between the first threshold value 230 and the second threshold value 235. In a third case 325 the -value 150 is above the second threshold value 235. If necessary the range 225 can be given an upper limit by a third threshold value 255. In which of the adjacent ranges 215 to 225 the -value 150 is located if it coincides with one of the threshold values, can be defined appropriately.

[0036] For the three cases 315 to 325 the positions of the respective ranges 215 to 225 in relation to the characteristic curve 205 and the determination of a slope m are indicated diagrammatically. In the first case 315 a slope m.sub.u of a straight line through the origin is determined and in a step 330 the adhesion limit .sub.max is determined by means of a function f1 on the basis of the slope m.sub.u. In the second case 320 a tangent slope m.sub.t is determined and in a step 335 the adhesion limit .sub.max is determined by means of a function f2 on the basis of the slope m.sub.t. In the third case 325 the slope can be taken to be constant, so that no determination is needed. In a step 340 the adhesion limit .sub.max can be taken as equal to the instantaneously or currently effective coefficient of adhesion .sub.k.

[0037] In a subsequent step 345 the adhesion limit .sub.max determined can be made available, for example in order to evaluate a consideration or assessment of a driving condition of a motor vehicle to which the tire 100 is fitted, or to control the motor vehicle or the tire 100.

[0038] FIG. 4 shows a schematic representation of an example of a device 400 for determining the adhesion limit .sub.max of any tire 100 fitted to a motor vehicle 405. The device 400 comprises a processing device 410 which comprises a programmable micro-computer 410 and which in particular can be designed to carry out the method 300 in whole or in part, In addition the device 400 comprises a first interface 415 for receiving a first value, a second interface 420 for receiving a second value, and preferably a third interface 425 for making available an adhesion limit .sub.max determined. Some of the interfaces 415, 420 and 425 can even coincide or can be made integrally with one another. In one embodiment the two values for the interfaces 415 and 420 comprise a -value 150 and a coefficient of adhesion 210. In another embodiment other values are received, from which, as described earlier, the -value 150 and the coefficient of adhesion 210 can be determined. Thus, as described earlier, the adhesion limit .sub.max is determined taking into account in which of the three ranges 215 to 225 the current -value 150 is located.

INDEXES

[0039] 100 Tire [0040] 105 Substrate [0041] 110 Circumferential speed [0042] 115 Longitudinal speed [0043] 120 Longitudinal direction [0044] 125 Slip [0045] 130 Rotational plane [0046] 135 Movement direction [0047] 140 Transverse direction [0048] 145 Sideslip angle [0049] 150 -value [0050] 200 Diagram [0051] 205 Characteristic curve [0052] 210 Coefficient of adhesion [0053] 215 First range [0054] 220 Second range [0055] 225 Third range [0056] 230 First threshold value [0057] 235 Second threshold value [0058] 240 Straight line through the origin [0059] 245 Tangent [0060] 250 Constant [0061] 255 Third threshold value (upper limit of 255 if needed) [0062] 300 Method [0063] 305 Detection [0064] 310 Determination of the instantaneous coefficient of adhesion [0065] 315 -value is in the first range [0066] 320 -value is in the second range [0067] 325 -value is in the third range [0068] 330 Determination of maximum coefficient of adhesion in relation to the slope of the straight line passing through the origin [0069] 335 Determination of maximum coefficient of adhesion in relation to the slope of the tangent [0070] 340 Determination of maximum coefficient of adhesion in relation to the maximum value [0071] 345 Make maximum coefficient of adhesion available [0072] 400 Device [0073] 405 Motor vehicle [0074] 410 Processing device [0075] 415 First interface [0076] 420 Second interface [0077] 425 Third interface